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   <div id="projectname">IgH EtherCAT Master
   &#160;<span id="projectnumber">1.5.2</span>
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<a href="#nested-classes">Data Structures</a> &#124;
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<p>EtherCAT slave structure.  
<a href="#details">More...</a></p>

<p><a href="slave_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__slave__port__t.html">ec_slave_port_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave port.  <a href="structec__slave__port__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__sii__t.html">ec_sii_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave information interface data.  <a href="structec__sii__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__slave.html">ec_slave</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">EtherCAT slave.  <a href="structec__slave.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:af7d7537e5ba790ca327223cb92318eed"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#af7d7537e5ba790ca327223cb92318eed">EC_SLAVE_INFO</a>(slave,  fmt,  args...)</td></tr>
<tr class="memdesc:af7d7537e5ba790ca327223cb92318eed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing slave-specific information to syslog.  <a href="#af7d7537e5ba790ca327223cb92318eed">More...</a><br /></td></tr>
<tr class="separator:af7d7537e5ba790ca327223cb92318eed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39519c3172e4196e40fa9006fb801612"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave,  fmt,  args...)</td></tr>
<tr class="memdesc:a39519c3172e4196e40fa9006fb801612"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing slave-specific errors to syslog.  <a href="#a39519c3172e4196e40fa9006fb801612">More...</a><br /></td></tr>
<tr class="separator:a39519c3172e4196e40fa9006fb801612"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae2995e6509df66255d8f7fcdb5eb5bb"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave,  fmt,  args...)</td></tr>
<tr class="memdesc:aae2995e6509df66255d8f7fcdb5eb5bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing slave-specific warnings to syslog.  <a href="#aae2995e6509df66255d8f7fcdb5eb5bb">More...</a><br /></td></tr>
<tr class="separator:aae2995e6509df66255d8f7fcdb5eb5bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a349fb5dcd0bac7fc2324d3da89aa4751"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave,  level,  fmt,  args...)</td></tr>
<tr class="memdesc:a349fb5dcd0bac7fc2324d3da89aa4751"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience macro for printing slave-specific debug messages to syslog.  <a href="#a349fb5dcd0bac7fc2324d3da89aa4751">More...</a><br /></td></tr>
<tr class="separator:a349fb5dcd0bac7fc2324d3da89aa4751"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a30d1f46dd9536cd249c3d5010262ffda"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a30d1f46dd9536cd249c3d5010262ffda">ec_slave_init</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, <a class="el" href="group__ApplicationInterface.html#ga60ec31b46fcf7994c511359402c64baa">ec_master_t</a> *, <a class="el" href="globals_8h.html#ad1a2101422888687598d7e1a630c6343">ec_device_index_t</a>, uint16_t, uint16_t)</td></tr>
<tr class="memdesc:a30d1f46dd9536cd249c3d5010262ffda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave constructor.  <a href="#a30d1f46dd9536cd249c3d5010262ffda">More...</a><br /></td></tr>
<tr class="separator:a30d1f46dd9536cd249c3d5010262ffda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac408923ca73c5e811edbe3ca9026cad7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#ac408923ca73c5e811edbe3ca9026cad7">ec_slave_clear</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *)</td></tr>
<tr class="memdesc:ac408923ca73c5e811edbe3ca9026cad7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slave destructor.  <a href="#ac408923ca73c5e811edbe3ca9026cad7">More...</a><br /></td></tr>
<tr class="separator:ac408923ca73c5e811edbe3ca9026cad7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75ddcc7d265095322850d243007602b2"><td class="memItemLeft" align="right" valign="top"><a id="a75ddcc7d265095322850d243007602b2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a75ddcc7d265095322850d243007602b2">ec_slave_clear_sync_managers</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *)</td></tr>
<tr class="memdesc:a75ddcc7d265095322850d243007602b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the sync manager array. <br /></td></tr>
<tr class="separator:a75ddcc7d265095322850d243007602b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b3d447dd21d0888959a5a3691597e77"><td class="memItemLeft" align="right" valign="top"><a id="a8b3d447dd21d0888959a5a3691597e77"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a8b3d447dd21d0888959a5a3691597e77">ec_slave_request_state</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, <a class="el" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a>)</td></tr>
<tr class="memdesc:a8b3d447dd21d0888959a5a3691597e77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Request a slave state and resets the error flag. <br /></td></tr>
<tr class="separator:a8b3d447dd21d0888959a5a3691597e77"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaede3967b1b6c24a513006654b85ca8a"><td class="memItemLeft" align="right" valign="top"><a id="aaede3967b1b6c24a513006654b85ca8a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#aaede3967b1b6c24a513006654b85ca8a">ec_slave_set_state</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, <a class="el" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a>)</td></tr>
<tr class="memdesc:aaede3967b1b6c24a513006654b85ca8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the application state of a slave. <br /></td></tr>
<tr class="separator:aaede3967b1b6c24a513006654b85ca8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae4c4f075c98de7dc270649e95b8c51e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#aae4c4f075c98de7dc270649e95b8c51e">ec_slave_fetch_sii_strings</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, const uint8_t *, size_t)</td></tr>
<tr class="memdesc:aae4c4f075c98de7dc270649e95b8c51e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetches data from a STRING category.  <a href="#aae4c4f075c98de7dc270649e95b8c51e">More...</a><br /></td></tr>
<tr class="separator:aae4c4f075c98de7dc270649e95b8c51e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abdf593b5573d120f6246519dcf6e3be7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#abdf593b5573d120f6246519dcf6e3be7">ec_slave_fetch_sii_general</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, const uint8_t *, size_t)</td></tr>
<tr class="memdesc:abdf593b5573d120f6246519dcf6e3be7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetches data from a GENERAL category.  <a href="#abdf593b5573d120f6246519dcf6e3be7">More...</a><br /></td></tr>
<tr class="separator:abdf593b5573d120f6246519dcf6e3be7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a203a4694b2532a0842f194d937652034"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a203a4694b2532a0842f194d937652034">ec_slave_fetch_sii_syncs</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, const uint8_t *, size_t)</td></tr>
<tr class="memdesc:a203a4694b2532a0842f194d937652034"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetches data from a SYNC MANAGER category.  <a href="#a203a4694b2532a0842f194d937652034">More...</a><br /></td></tr>
<tr class="separator:a203a4694b2532a0842f194d937652034"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15d3455e6776aed45550510c6eb69385"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a15d3455e6776aed45550510c6eb69385">ec_slave_fetch_sii_pdos</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, const uint8_t *, size_t, <a class="el" href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a>)</td></tr>
<tr class="memdesc:a15d3455e6776aed45550510c6eb69385"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetches data from a [RT]xPDO category.  <a href="#a15d3455e6776aed45550510c6eb69385">More...</a><br /></td></tr>
<tr class="separator:a15d3455e6776aed45550510c6eb69385"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0739ace7f4222952c5c539b8a508c994"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structec__sync__t.html">ec_sync_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a0739ace7f4222952c5c539b8a508c994">ec_slave_get_sync</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint8_t)</td></tr>
<tr class="memdesc:a0739ace7f4222952c5c539b8a508c994"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sync manager given an index.  <a href="#a0739ace7f4222952c5c539b8a508c994">More...</a><br /></td></tr>
<tr class="separator:a0739ace7f4222952c5c539b8a508c994"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42809dba180f305491cc16c036c22f0a"><td class="memItemLeft" align="right" valign="top"><a id="a42809dba180f305491cc16c036c22f0a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a42809dba180f305491cc16c036c22f0a">ec_slave_sdo_dict_info</a> (const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, unsigned int *, unsigned int *)</td></tr>
<tr class="memdesc:a42809dba180f305491cc16c036c22f0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Counts the total number of SDOs and entries in the dictionary. <br /></td></tr>
<tr class="separator:a42809dba180f305491cc16c036c22f0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f99eebce71e4d7b4d5df85b6ff4af77"><td class="memItemLeft" align="right" valign="top"><a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a2f99eebce71e4d7b4d5df85b6ff4af77">ec_slave_get_sdo</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint16_t)</td></tr>
<tr class="memdesc:a2f99eebce71e4d7b4d5df85b6ff4af77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an SDO from the dictionary.  <a href="#a2f99eebce71e4d7b4d5df85b6ff4af77">More...</a><br /></td></tr>
<tr class="separator:a2f99eebce71e4d7b4d5df85b6ff4af77"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3de8de7255e5d8eecb3f09260b5c3202"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a3de8de7255e5d8eecb3f09260b5c3202">ec_slave_get_sdo_const</a> (const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint16_t)</td></tr>
<tr class="memdesc:a3de8de7255e5d8eecb3f09260b5c3202"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an SDO from the dictionary.  <a href="#a3de8de7255e5d8eecb3f09260b5c3202">More...</a><br /></td></tr>
<tr class="separator:a3de8de7255e5d8eecb3f09260b5c3202"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadf6c239dfe7541b45ae606c113b12b8"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#aadf6c239dfe7541b45ae606c113b12b8">ec_slave_get_sdo_by_pos_const</a> (const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint16_t)</td></tr>
<tr class="memdesc:aadf6c239dfe7541b45ae606c113b12b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an SDO from the dictionary, given its position in the list.  <a href="#aadf6c239dfe7541b45ae606c113b12b8">More...</a><br /></td></tr>
<tr class="separator:aadf6c239dfe7541b45ae606c113b12b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a199062aeaa6a827c0e1d271d231d42d1"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a199062aeaa6a827c0e1d271d231d42d1">ec_slave_sdo_count</a> (const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *)</td></tr>
<tr class="memdesc:a199062aeaa6a827c0e1d271d231d42d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of SDOs in the dictionary.  <a href="#a199062aeaa6a827c0e1d271d231d42d1">More...</a><br /></td></tr>
<tr class="separator:a199062aeaa6a827c0e1d271d231d42d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06a2845458cd7a266fde26a9c406ed36"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structec__pdo__t.html">ec_pdo_t</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a06a2845458cd7a266fde26a9c406ed36">ec_slave_find_pdo</a> (const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint16_t)</td></tr>
<tr class="memdesc:a06a2845458cd7a266fde26a9c406ed36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finds a mapped PDO.  <a href="#a06a2845458cd7a266fde26a9c406ed36">More...</a><br /></td></tr>
<tr class="separator:a06a2845458cd7a266fde26a9c406ed36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19149abe080d35cfd2e6bd6f6bef00b1"><td class="memItemLeft" align="right" valign="top"><a id="a19149abe080d35cfd2e6bd6f6bef00b1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#a19149abe080d35cfd2e6bd6f6bef00b1">ec_slave_attach_pdo_names</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *)</td></tr>
<tr class="memdesc:a19149abe080d35cfd2e6bd6f6bef00b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Attach PDO names. <br /></td></tr>
<tr class="separator:a19149abe080d35cfd2e6bd6f6bef00b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe9fa7fdd6ee65108792f13eaa574d76"><td class="memItemLeft" align="right" valign="top"><a id="abe9fa7fdd6ee65108792f13eaa574d76"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#abe9fa7fdd6ee65108792f13eaa574d76">ec_slave_calc_port_delays</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *)</td></tr>
<tr class="memdesc:abe9fa7fdd6ee65108792f13eaa574d76"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the port transmission delays. <br /></td></tr>
<tr class="separator:abe9fa7fdd6ee65108792f13eaa574d76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaecc00aabed001fb1b7ec6249007c0dd"><td class="memItemLeft" align="right" valign="top"><a id="aaecc00aabed001fb1b7ec6249007c0dd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="slave_8h.html#aaecc00aabed001fb1b7ec6249007c0dd">ec_slave_calc_transmission_delays_rec</a> (<a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *, uint32_t *)</td></tr>
<tr class="memdesc:aaecc00aabed001fb1b7ec6249007c0dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively calculates transmission delays. <br /></td></tr>
<tr class="separator:aaecc00aabed001fb1b7ec6249007c0dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>EtherCAT slave structure. </p>

<p class="definition">Definition in file <a class="el" href="slave_8h_source.html">slave.h</a>.</p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
<a id="af7d7537e5ba790ca327223cb92318eed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af7d7537e5ba790ca327223cb92318eed">&#9670;&nbsp;</a></span>EC_SLAVE_INFO</h2>

<div class="memitem">
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          <td class="memname">#define EC_SLAVE_INFO</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">slave, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_INFO <span class="stringliteral">&quot;EtherCAT %u-%u: &quot;</span> fmt, slave-&gt;master-&gt;index, \</div><div class="line">            slave-&gt;ring_position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing slave-specific information to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt;-&lt;POSITION&gt;: ", where INDEX is the master index and POSITION is the slave's ring position.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8h_source.html#l00062">62</a> of file <a class="el" href="slave_8h_source.html">slave.h</a>.</p>

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<a id="a39519c3172e4196e40fa9006fb801612"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a39519c3172e4196e40fa9006fb801612">&#9670;&nbsp;</a></span>EC_SLAVE_ERR</h2>

<div class="memitem">
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          <td class="memname">#define EC_SLAVE_ERR</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">slave, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_ERR <span class="stringliteral">&quot;EtherCAT ERROR %u-%u: &quot;</span> fmt, slave-&gt;master-&gt;index, \</div><div class="line">            slave-&gt;ring_position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing slave-specific errors to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt;-&lt;POSITION&gt;: ", where INDEX is the master index and POSITION is the slave's ring position.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8h_source.html#l00076">76</a> of file <a class="el" href="slave_8h_source.html">slave.h</a>.</p>

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<a id="aae2995e6509df66255d8f7fcdb5eb5bb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aae2995e6509df66255d8f7fcdb5eb5bb">&#9670;&nbsp;</a></span>EC_SLAVE_WARN</h2>

<div class="memitem">
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      <table class="memname">
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          <td class="memname">#define EC_SLAVE_WARN</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">slave, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line">printk(KERN_WARNING <span class="stringliteral">&quot;EtherCAT WARNING %u-%u: &quot;</span> fmt, \</div><div class="line">            slave-&gt;master-&gt;index, slave-&gt;ring_position, ##args)</div></div><!-- fragment -->
<p>Convenience macro for printing slave-specific warnings to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt;-&lt;POSITION&gt;: ", where INDEX is the master index and POSITION is the slave's ring position.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8h_source.html#l00090">90</a> of file <a class="el" href="slave_8h_source.html">slave.h</a>.</p>

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<a id="a349fb5dcd0bac7fc2324d3da89aa4751"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a349fb5dcd0bac7fc2324d3da89aa4751">&#9670;&nbsp;</a></span>EC_SLAVE_DBG</h2>

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      <table class="memname">
        <tr>
          <td class="memname">#define EC_SLAVE_DBG</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">slave, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">level, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">fmt, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">args...&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line"><span class="keywordflow">do</span> { \</div><div class="line">        if (slave-&gt;master-&gt;debug_level &gt;= level) { \</div><div class="line">            printk(KERN_DEBUG <span class="stringliteral">&quot;EtherCAT DEBUG %u-%u: &quot;</span> fmt, \</div><div class="line">                    slave-&gt;master-&gt;index, slave-&gt;ring_position, ##args); \</div><div class="line">        } \</div><div class="line">    } <span class="keywordflow">while</span> (0)</div></div><!-- fragment -->
<p>Convenience macro for printing slave-specific debug messages to syslog. </p>
<p>This will print the message in <em>fmt</em> with a prefixed "EtherCAT &lt;INDEX&gt;-&lt;POSITION&gt;: ", where INDEX is the master index and POSITION is the slave's ring position.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">level</td><td>Debug level. Master's debug level must be &gt;= <em>level</em> for output. </td></tr>
    <tr><td class="paramname">fmt</td><td>format string (like in printf()) </td></tr>
    <tr><td class="paramname">args</td><td>arguments (optional) </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8h_source.html#l00106">106</a> of file <a class="el" href="slave_8h_source.html">slave.h</a>.</p>

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<h2 class="groupheader">Function Documentation</h2>
<a id="a30d1f46dd9536cd249c3d5010262ffda"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a30d1f46dd9536cd249c3d5010262ffda">&#9670;&nbsp;</a></span>ec_slave_init()</h2>

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          <td class="memname">void ec_slave_init </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga60ec31b46fcf7994c511359402c64baa">ec_master_t</a> *&#160;</td>
          <td class="paramname"><em>master</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="globals_8h.html#ad1a2101422888687598d7e1a630c6343">ec_device_index_t</a>&#160;</td>
          <td class="paramname"><em>dev_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>ring_position</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>station_address</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Slave constructor. </p>
<dl class="section return"><dt>Returns</dt><dd>0 in case of success, else &lt; 0 </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">master</td><td>EtherCAT master </td></tr>
    <tr><td class="paramname">dev_idx</td><td>Device index. </td></tr>
    <tr><td class="paramname">ring_position</td><td>ring position </td></tr>
    <tr><td class="paramname">station_address</td><td>station address to configure </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00062">62</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="ac408923ca73c5e811edbe3ca9026cad7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac408923ca73c5e811edbe3ca9026cad7">&#9670;&nbsp;</a></span>ec_slave_clear()</h2>

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          <td class="memname">void ec_slave_clear </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Slave destructor. </p>
<p>Clears and frees a slave object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00170">170</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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</div>
<a id="aae4c4f075c98de7dc270649e95b8c51e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aae4c4f075c98de7dc270649e95b8c51e">&#9670;&nbsp;</a></span>ec_slave_fetch_sii_strings()</h2>

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      <table class="memname">
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          <td class="memname">int ec_slave_fetch_sii_strings </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint8_t *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>data_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Fetches data from a STRING category. </p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000043">Todo:</a></b></dt><dd>range checking </dd></dl>
<dl class="section return"><dt>Returns</dt><dd>0 in case of success, else &lt; 0 </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">data</td><td>category data </td></tr>
    <tr><td class="paramname">data_size</td><td>number of bytes </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00312">312</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="abdf593b5573d120f6246519dcf6e3be7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abdf593b5573d120f6246519dcf6e3be7">&#9670;&nbsp;</a></span>ec_slave_fetch_sii_general()</h2>

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          <td class="memname">int ec_slave_fetch_sii_general </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint8_t *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>data_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Fetches data from a GENERAL category. </p>
<dl class="section return"><dt>Returns</dt><dd>0 in case of success, else &lt; 0 </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">data</td><td>category data </td></tr>
    <tr><td class="paramname">data_size</td><td>size in bytes </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00368">368</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="a203a4694b2532a0842f194d937652034"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a203a4694b2532a0842f194d937652034">&#9670;&nbsp;</a></span>ec_slave_fetch_sii_syncs()</h2>

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          <td class="memname">int ec_slave_fetch_sii_syncs </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint8_t *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>data_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Fetches data from a SYNC MANAGER category. </p>
<p>Appends the sync managers described in the category to the existing ones.</p>
<dl class="section return"><dt>Returns</dt><dd>0 in case of success, else &lt; 0 </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave. </td></tr>
    <tr><td class="paramname">data</td><td>Category data. </td></tr>
    <tr><td class="paramname">data_size</td><td>Number of bytes. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00419">419</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="a15d3455e6776aed45550510c6eb69385"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a15d3455e6776aed45550510c6eb69385">&#9670;&nbsp;</a></span>ec_slave_fetch_sii_pdos()</h2>

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          <td class="memname">int ec_slave_fetch_sii_pdos </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint8_t *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>data_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a>&#160;</td>
          <td class="paramname"><em>dir</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Fetches data from a [RT]xPDO category. </p>
<dl class="section return"><dt>Returns</dt><dd>0 in case of success, else &lt; 0 </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">data</td><td>category data </td></tr>
    <tr><td class="paramname">data_size</td><td>number of bytes </td></tr>
    <tr><td class="paramname">dir</td><td>PDO direction. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00485">485</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="a0739ace7f4222952c5c539b8a508c994"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0739ace7f4222952c5c539b8a508c994">&#9670;&nbsp;</a></span>ec_slave_get_sync()</h2>

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          <td class="memname"><a class="el" href="structec__sync__t.html">ec_sync_t</a>* ec_slave_get_sync </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint8_t&#160;</td>
          <td class="paramname"><em>sync_index</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the sync manager given an index. </p>
<dl class="section return"><dt>Returns</dt><dd>pointer to sync manager, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave. </td></tr>
    <tr><td class="paramname">sync_index</td><td>Sync manager index. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00590">590</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="a2f99eebce71e4d7b4d5df85b6ff4af77"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2f99eebce71e4d7b4d5df85b6ff4af77">&#9670;&nbsp;</a></span>ec_slave_get_sdo()</h2>

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          <td class="memname"><a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a>* ec_slave_get_sdo </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>index</em>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get an SDO from the dictionary. </p>
<dl class="section return"><dt>Returns</dt><dd>The desired SDO, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">index</td><td>SDO index </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00636">636</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3de8de7255e5d8eecb3f09260b5c3202">&#9670;&nbsp;</a></span>ec_slave_get_sdo_const()</h2>

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          <td class="memname">const <a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a>* ec_slave_get_sdo_const </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>index</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get an SDO from the dictionary. </p>
<p>const version.</p>
<dl class="section return"><dt>Returns</dt><dd>The desired SDO, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">index</td><td>SDO index </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00662">662</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aadf6c239dfe7541b45ae606c113b12b8">&#9670;&nbsp;</a></span>ec_slave_get_sdo_by_pos_const()</h2>

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          <td class="memname">const <a class="el" href="sdo__entry_8h.html#a8da2c87733474a881be045798f0f7652">ec_sdo_t</a>* ec_slave_get_sdo_by_pos_const </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>sdo_position</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get an SDO from the dictionary, given its position in the list. </p>
<dl class="section return"><dt>Returns</dt><dd>The desired SDO, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave. </td></tr>
    <tr><td class="paramname">sdo_position</td><td>SDO list position. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00684">684</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<a id="a199062aeaa6a827c0e1d271d231d42d1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a199062aeaa6a827c0e1d271d231d42d1">&#9670;&nbsp;</a></span>ec_slave_sdo_count()</h2>

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          <td class="memname">uint16_t ec_slave_sdo_count </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Get the number of SDOs in the dictionary. </p>
<dl class="section return"><dt>Returns</dt><dd>SDO count. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>EtherCAT slave. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00706">706</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a06a2845458cd7a266fde26a9c406ed36">&#9670;&nbsp;</a></span>ec_slave_find_pdo()</h2>

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          <td class="memname">const <a class="el" href="structec__pdo__t.html">ec_pdo_t</a>* ec_slave_find_pdo </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t&#160;</td>
          <td class="paramname"><em>index</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Finds a mapped PDO. </p>
<dl class="section return"><dt>Returns</dt><dd>The desired PDO object, or NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">slave</td><td>Slave. </td></tr>
    <tr><td class="paramname">index</td><td>PDO index to find. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="slave_8c_source.html#l00725">725</a> of file <a class="el" href="slave_8c_source.html">slave.c</a>.</p>

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